version: 66.12
glider: 36
mission: 20
dive: 13
start: 7 4 115 16 34 52
data:
$ID,36
$MISSION,20
$DIVE,13
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,2160
$D_ABORT,5500
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,720
$T_MISSION,750
$T_ABORT,2880
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78685
$MASS_COMP,9146
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,107040
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3959
$C_PITCH,3300
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,187
$ROLL_MAX,3990
$ROLL_DEG,40
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,106
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-978.67957
$PRESSURE_SLOPE,0.00091862795
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043996978
$SEABIRD_T_H,0.0006365396
$SEABIRD_T_I,2.6113061e-05
$SEABIRD_T_J,3.2649082e-06
$SEABIRD_C_G,-9.7572823
$SEABIRD_C_H,1.1335733
$SEABIRD_C_I,-0.0016566192
$SEABIRD_C_J,0.00021344022
$GPS1,040715,162732,3209.3386,-6433.4297,40,0.9,81,-15.5,0.7,76.5,9,3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-63.3
$GPS2,040715,163428,3209.3037,-6433.4336,12,0.9,52,-15.5,0.4,198.7,9,3.9
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,92.0,5535,-36.3,-10.000,-37.97,656
$D_GRID,2160
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.79,-42.9,135,1685,727,798,0.0,0.0,0,140,0.00,0.00,-120.40,0.102,16390,0.000,0.000,132,1684,2648,2521,2776,0,0,0,0,1,0,26.53,26.15,26.03
$GC,142,-1.80,-87.9,132,1684,2521,2776,2.8,-3.0,12,165,10.00,2.08,-6.75,0.122,18692,0.251,0.052,2711,3071,2804,2694,2915,0,0,0,0,0,0,25.74,26.11,25.90
$GC,252,-1.80,-87.9,2711,3071,2694,2915,23.3,-23.0,22,263,0.00,1.98,0.00,0.000,1030,0.000,0.047,2711,1681,2804,2694,2915,0,0,0,0,0,0,26.25,26.23,26.26
$GC,562,-1.81,-111.5,2711,1681,2694,2915,68.7,-6.3,53,572,0.00,2.03,0.00,0.000,260,0.000,0.052,2701,3065,2804,2694,2914,0,0,0,0,0,0,26.61,26.36,26.63
$GC,901,-1.82,-144.1,2701,3065,2694,2914,89.0,-4.9,83,911,0.00,1.92,0.00,0.000,1030,0.000,0.047,2702,1687,2804,2694,2914,0,0,0,0,0,0,26.51,26.49,26.52
$GC,1211,-1.82,-144.1,2701,1687,2694,2914,110.0,-9.3,114,1221,0.00,2.00,0.00,0.000,260,0.000,0.052,2692,3065,2804,2694,2914,0,0,0,0,0,0,26.77,26.52,26.79
$GC,1504,-1.82,-144.1,2692,3066,2695,2914,142.8,-11.9,140,1514,0.00,1.92,0.00,0.000,1030,0.000,0.047,2692,1696,2804,2694,2914,0,0,0,0,0,0,26.63,26.58,26.63
$GC,1824,-1.82,-144.1,2692,1696,2694,2914,185.1,-14.8,159,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1695,2804,2694,2914,0,0,0,0,0,0,26.84,26.86,26.86
$GC,2124,-1.82,-144.1,2692,1696,2694,2914,232.3,-16.6,174,2129,0.00,1.98,0.00,0.000,516,0.000,0.060,2692,313,2804,2694,2914,0,0,0,0,0,0,26.86,26.59,26.89
$GC,2441,-1.82,-144.1,2692,313,2694,2914,288.3,-17.6,189,2445,0.12,1.90,0.00,0.000,3078,0.228,0.045,2716,1697,2804,2694,2914,0,0,0,0,0,0,26.29,26.67,26.50
$GC,2764,-1.87,-144.1,2716,1697,2694,2914,342.6,-17.0,201,2770,0.00,2.03,0.00,0.000,516,0.000,0.057,2716,311,2804,2694,2914,0,0,0,0,0,0,26.89,26.62,26.91
$GC,2900,-1.87,-144.1,2716,311,2694,2914,365.6,-18.5,205,2904,0.00,1.95,0.00,0.000,1030,0.000,0.045,2709,1706,2804,2694,2914,0,0,0,0,0,0,26.73,26.68,26.74
$GC,3219,-1.93,-144.1,2709,1706,2694,2914,427.2,-19.2,216,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1706,2804,2694,2914,0,0,0,0,0,0,26.91,26.93,26.92
$GC,3519,-2.00,-144.1,2709,1706,2694,2913,482.7,-18.3,226,3521,0.10,0.00,0.00,0.000,4102,0.114,0.000,2645,1708,2803,2694,2913,0,0,0,0,0,0,26.69,26.74,26.72
$GC,3819,-2.00,-144.1,2644,1709,2694,2912,546.9,-21.6,236,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1709,2802,2694,2911,0,0,0,0,0,0,26.91,26.94,26.94
$GC,4120,-2.00,-144.1,2644,1708,2694,2911,612.0,-21.6,246,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1709,2802,2694,2911,0,0,0,0,0,0,26.92,26.94,26.94
$GC,4419,-2.00,-144.1,2644,1709,2694,2910,677.5,-22.3,256,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1709,2802,2694,2910,0,0,0,0,0,0,26.93,26.95,26.94
$GC,4719,-2.00,-144.1,2644,1709,2694,2908,744.0,-22.0,266,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1709,2801,2694,2908,0,0,0,0,0,0,26.92,26.95,26.94
$GC,5019,-2.00,-144.1,2644,1709,2694,2907,812.4,-23.2,276,5024,0.00,2.03,0.00,0.000,516,0.000,0.057,2644,324,2800,2694,2907,0,0,0,0,0,0,26.93,26.65,26.94
$GC,5080,-2.00,-144.1,2644,324,2694,2907,827.3,-23.9,278,5085,0.00,1.88,0.00,0.000,1030,0.000,0.047,2635,1690,2800,2694,2907,0,0,0,0,0,0,26.76,26.72,26.77
$GC,5412,-2.00,-144.1,2635,1690,2694,2906,904.5,-23.1,289,5417,0.00,1.98,0.00,0.000,260,0.000,0.055,2625,3079,2799,2694,2905,0,0,0,0,0,0,26.92,26.65,26.94
$GC,5479,-2.00,-144.1,2624,3080,2694,2904,919.0,-23.7,291,5484,0.10,2.00,0.00,0.000,3078,0.204,0.047,2654,1691,2799,2694,2904,0,0,0,0,0,0,26.36,26.70,26.48
$GC,5805,-2.06,-144.1,2654,1691,2694,2902,997.1,-23.8,302,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1691,2798,2694,2902,0,0,0,0,0,0,26.92,26.94,26.94
$GC,6134,-2.12,-144.1,2653,1691,2694,2900,1079.6,-25.1,308,6135,0.05,0.00,0.00,0.000,4102,0.171,0.000,2618,1691,2797,2694,2900,0,0,0,0,0,0,26.72,26.76,26.74
$GC,6433,-2.12,-144.1,2618,1691,2693,2896,1160.6,-27.0,313,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1691,2795,2694,2896,0,0,0,0,0,0,26.91,26.94,26.94
$GC,6733,-2.12,-144.1,2618,1691,2694,2893,1242.8,-27.6,318,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1691,2793,2694,2893,0,0,0,0,0,0,26.91,26.94,26.93
$GC,7033,-2.18,-144.1,2618,1691,2694,2889,1325.8,-27.6,323,7034,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1691,2791,2694,2889,0,0,0,0,0,0,26.91,26.94,26.93
$GC,7333,-2.25,-144.1,2617,1691,2692,2887,1410.0,-28.2,328,7335,0.05,0.00,0.00,0.000,4102,0.176,0.000,2577,1691,2790,2693,2887,0,0,0,0,0,0,26.70,26.74,26.73
$GC,7633,-2.25,-144.1,2577,1691,2688,2887,1499.0,-29.7,333,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1691,2787,2688,2887,0,0,0,0,0,0,26.90,26.93,26.92
$GC,7936,-2.30,-144.1,2578,1691,2686,2884,1586.4,-29.1,338,7940,0.00,2.00,0.00,0.000,516,0.000,0.060,2577,314,2785,2686,2884,0,0,0,0,0,0,26.88,26.61,26.90
$GC,8000,-2.30,-144.1,2577,314,2685,2884,1606.4,-29.2,339,8005,0.00,1.92,0.00,0.000,1030,0.000,0.047,2568,1694,2784,2685,2884,0,0,0,0,0,0,26.72,26.67,26.73
$GC,8365,-2.35,-144.1,2567,1695,2683,2883,1711.1,-28.4,345,8366,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1695,2782,2682,2882,0,0,0,0,0,0,26.86,26.89,26.88
$GC,8666,-2.41,-144.1,2567,1694,2681,2881,1794.9,-27.9,350,8668,0.08,0.00,0.00,0.000,4102,0.127,0.000,2521,1696,2781,2681,2881,0,0,0,0,0,0,26.68,26.72,26.71
$GC,8965,-2.41,-144.1,2521,1695,2680,2880,1882.2,-29.1,355,8969,0.00,2.05,0.00,0.000,260,0.000,0.055,2510,3086,2780,2680,2880,0,0,0,0,0,0,26.86,26.61,26.88
$GC,9033,-2.41,-144.1,2510,3086,2680,2878,1901.0,-29.1,356,9038,0.00,1.98,0.00,0.000,1030,0.000,0.050,2511,1712,2779,2680,2878,0,0,0,0,0,0,26.69,26.63,26.70
$GC,9393,-2.41,-144.1,2511,1712,2678,2878,2006.0,-28.8,362,9394,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1712,2778,2679,2878,0,0,0,0,0,0,26.85,26.88,26.86
$GC,9694,-2.41,-144.1,2510,1712,2676,2877,2091.2,-28.3,367,9695,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1712,2776,2676,2877,0,0,0,0,0,0,26.86,26.89,26.88
$STATE,9992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9992,begin apogee
$GC,9995,-0.24,0.0,2510,1712,2675,2876,2175.6,-28.2,372,10067,2.30,0.00,66.65,2.374,10246,0.179,0.000,3224,1712,2500,2395,2605,0,0,0,0,0,0,26.24,24.41,22.87
$STATE,10068,end apogee,CONTROL_FINISHED_OK
$STATE,10068,begin climb
$GC,10069,1.82,144.1,3223,1712,2395,2605,2179.1,0.0,373,10199,1.80,2.30,122.10,2.354,10756,0.060,0.072,3921,302,2002,1889,2116,0,0,0,0,0,0,24.87,23.84,22.33
$GC,10495,1.50,172.1,3921,302,1884,2114,2181.5,5.6,380,10525,0.55,2.05,21.65,2.240,13318,0.253,0.045,3782,1719,1906,1786,2027,0,0,0,0,0,0,25.42,25.75,23.15
$GC,10840,1.31,172.1,3781,1719,1780,2027,2138.5,13.0,386,10842,0.22,0.00,0.00,0.000,4102,0.246,0.000,3724,1719,1903,1780,2027,0,0,0,0,0,0,25.60,25.89,25.83
$GC,11139,1.17,172.1,3724,1720,1779,2027,2104.5,11.2,391,11141,0.17,0.00,0.00,0.000,4102,0.241,0.000,3679,1720,1903,1779,2027,0,0,0,0,0,0,25.84,26.11,26.06
$GC,11439,1.08,172.1,3678,1719,1778,2027,2073.6,10.3,396,11441,0.12,0.00,0.00,0.000,4102,0.251,0.000,3646,1721,1902,1778,2027,0,0,0,0,0,0,25.98,26.25,26.18
$GC,11739,1.01,172.1,3646,1721,1776,2027,2046.2,9.0,401,11743,0.00,2.03,0.00,0.000,260,0.000,0.055,3645,3065,1902,1777,2027,0,0,0,0,0,0,26.56,26.33,26.58
$GC,11942,0.93,172.1,3645,3069,1776,2027,2029.8,8.9,404,11946,0.20,2.05,0.00,0.000,5126,0.226,0.050,3589,1692,1901,1776,2027,0,0,0,0,0,0,26.05,26.40,26.28
$GC,12285,0.94,190.4,3589,1692,1775,2027,2003.0,7.1,410,12306,0.00,2.15,14.20,2.053,8708,0.000,0.067,3598,307,1843,1716,1971,0,0,0,0,0,0,26.66,25.53,23.89
$GC,12485,0.94,190.4,3598,308,1714,1971,1985.5,9.1,413,12490,0.00,2.03,0.00,0.000,1030,0.000,0.045,3591,1689,1841,1713,1970,0,0,0,0,0,0,26.10,26.08,26.11
$GC,12829,0.94,190.4,3590,1689,1713,1970,1950.0,9.7,419,12830,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1689,1841,1713,1970,0,0,0,0,0,0,26.48,26.50,26.49
$GC,13129,0.94,190.4,3590,1689,1712,1970,1921.4,9.4,424,13130,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1689,1841,1712,1970,0,0,0,0,0,0,26.57,26.60,26.59
$GC,13429,0.94,190.4,3590,1689,1711,1970,1894.7,8.7,429,13430,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1689,1840,1710,1970,0,0,0,0,0,0,26.63,26.66,26.65
$GC,13729,0.94,190.4,3590,1689,1710,1970,1869.3,8.4,434,13730,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1689,1840,1710,1970,0,0,0,0,0,0,26.68,26.70,26.70
$GC,14029,0.94,190.4,3590,1690,1710,1970,1844.1,8.4,439,14030,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1689,1840,1710,1970,0,0,0,0,0,0,26.71,26.74,26.73
$GC,14330,0.94,203.7,3590,1689,1710,1970,1820.4,7.9,444,14342,0.00,0.00,10.93,1.875,8198,0.000,0.000,3591,1689,1798,1668,1928,0,0,0,0,0,0,26.74,25.74,24.27
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$STATE,29999,end climb,SURFACE_DEPTH_REACHED
$STATE,29999,begin surface coast
$FINISH,0.8,0.997685
$STATE,30020,end surface coast,CONTROL_FINISHED_OK
$STATE,30020,begin surface
$SM_CCo,30035,73.93,1.018,0,0,1295,350.04
$SM_GC,2.36,8.95,0.00,73.93,0.055,0.000,1.018,197,1694,1295,-9.57,-0.17,350.04,0,0,0,0,0,0,26.58,26.88,24.37
$IRIDIUM_FIX,3158.24,-6435.59,290408,214820
$TT8_MAMPS,0.023219,0.023219
$HUMID,39.80
$INTERNAL_PRESSURE,8.93661
$TCM_TEMP,19.20
$XPDR_PINGS,44
$24V_AH,22.33,9.796
$10V_AH,10.03,6.260
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.300,133.075,279.425,73.925,127.150,24.078,26.296,224.628,25.250,0.000,53.473,2663.430,22311.727,536.079,4885.992,121.732,0.000,2043.591,0.000,4442.802,0.000,104.593,0.000
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$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,598.142,2864.987,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330372
$DATA_FILE_SIZE,56988,879
$CAP_FILE_SIZE,217523,0
$CFSIZE,1024409600,1018609664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,050715,005839,3208.899,-6432.013,41,0.9,82,-15.5,0.2,248.3,9,4.3